\contentsline {section}{\numberline {1}控制问题概述}{2}{}%
\contentsline {section}{\numberline {2}模型预测控制框架}{2}{}%
\contentsline {subsection}{\numberline {2.1}状态量、控制量与扰动}{2}{}%
\contentsline {subsubsection}{\numberline {2.1.1}状态向量 (State Vector) $x$}{2}{}%
\contentsline {subsubsection}{\numberline {2.1.2}控制向量 (Control Vector) $u$}{2}{}%
\contentsline {subsubsection}{\numberline {2.1.3}测量扰动 (Measured Disturbance) $d$}{2}{}%
\contentsline {subsection}{\numberline {2.2}离散时间状态空间模型}{3}{}%
\contentsline {subsubsection}{\numberline {2.2.1}燃料电池实际功率 $P_{fc}$ 的状态更新}{3}{}%
\contentsline {subsubsection}{\numberline {2.2.2}锂电池SOC的状态更新}{3}{}%
\contentsline {subsubsection}{\numberline {2.2.3}燃料电池老化因子 $\alpha _{decay}$ 的状态更新}{3}{}%
\contentsline {subsection}{\numberline {2.3}核心：燃料电池指令功率的计算}{4}{}%
\contentsline {section}{\numberline {3}优化目标：成本函数}{4}{}%
\contentsline {subsection}{\numberline {3.1}氢气消耗成本 $C_{H_2}$}{4}{}%
\contentsline {subsection}{\numberline {3.2}锂电池寿命损耗成本 $C_{bat,loss}$}{5}{}%
\contentsline {subsection}{\numberline {3.3}燃料电池老化成本 $C_{fc,age}$}{5}{}%
\contentsline {section}{\numberline {4}约束条件}{5}{}%
